
#include "cartpole_interface/cartpole_interface.h"

#pragma once

class ControllerSimple{

public:
    ControllerSimple();

    ~ControllerSimple();

    bool init(legged::CartpoleInterface* cartpole_if, ros::NodeHandle& controller_nh) override;

    void update(const ros::Time& time, const ros::Duration& period) override;

protected:

    std::vector<HybridJointHandle> hybridJointHandles_;

}


